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Basically, Rotary Encoder converts the angular motion of wheel or shaft intoanalog or digital codes, and by codes we can count the number of rotations of the same. That seems pretty simple. 😛

First thing one faces in robotics, is the motion update of the bot. This motion update requires the tracking of the number of rotation which when multiplied by the circumference of the wheel base gives the distance travelled. However, this approach is not for motion including turns 😛